// --------------------------------------------------------------------------------------------------------------------
// <copyright file="GyroCalibrationLoaderTest.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
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// --------------------------------------------------------------------------------------------------------------------
namespace Test.Robotics.Navigation.VirtualDriveFeedback
{
    using Microsoft.Robotics.IO;
    using Microsoft.Robotics.Navigation.Runtime.Perception;
    using Microsoft.VisualStudio.TestTools.UnitTesting;

    /// <summary>
    /// Gyro calibration info data loader related tests.
    /// </summary>
    [TestClass]
    public class GyroCalibrationLoaderTest
    {
        /// <summary>
        /// Tests gyro calibration loader export/import.
        /// </summary>
        [Priority(0)]
        [TestMethod]
        [TestCategory("Unit")]
        public void GyroCalibrationSaveAndLoadTest()
        {
            string testFileName = GyroCalibration.Filename;
            GyroCalibration testGyroCalibrationInfo = new GyroCalibration(0.011, .26, 1.152612293238088552552909514654, 0.0);

            DataLoader<GyroCalibration>.ExportData(testFileName, testGyroCalibrationInfo);
            GyroCalibration readGyroCalibrationInfo = DataLoader<GyroCalibration>.ImportData(testFileName);
            Assert.AreEqual(testGyroCalibrationInfo.DriftThresholdRadiansPerSecond, readGyroCalibrationInfo.DriftThresholdRadiansPerSecond);
            Assert.AreEqual(testGyroCalibrationInfo.GyroCalibrationThreshold, readGyroCalibrationInfo.GyroCalibrationThreshold);
            Assert.AreEqual(testGyroCalibrationInfo.GyroYCalibrationFactor, readGyroCalibrationInfo.GyroYCalibrationFactor);
            Assert.AreEqual(testGyroCalibrationInfo.SlipThresholdPercentage, readGyroCalibrationInfo.SlipThresholdPercentage);
        }
    }
}
